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<div class="title">global_nn_recognizer_cvfh.h</div>  </div>
</div><!--header-->
<div class="contents">
<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * global.h</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Created on: Mar 9, 2012</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *      Author: aitor</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; </div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#ifndef REC_FRAMEWORK_GLOBAL_RECOGNIZER_CVFH_H_</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#define REC_FRAMEWORK_GLOBAL_RECOGNIZER_CVFH_H_</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;flann/flann.h&gt;</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2common_2common_8h.html">pcl/common/common.h</a>&gt;</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;pcl/apps/3d_rec_framework/pc_source/source.h&gt;</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &lt;pcl/apps/3d_rec_framework/feature_wrapper/global/global_estimator.h&gt;</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &lt;pcl/apps/3d_rec_framework/feature_wrapper/global/ourcvfh_estimator.h&gt;</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &lt;pcl/recognition/hv/hypotheses_verification.h&gt;</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160; </div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;{</div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;  <span class="keyword">namespace </span>rec_3d_framework</div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;  {</div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160; </div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">template</span>&lt;<span class="keyword">class</span> &gt; <span class="keyword">class </span>Distance, <span class="keyword">typename</span> PointInT, <span class="keyword">typename</span> FeatureT = <a class="code" href="structpcl_1_1_v_f_h_signature308.html">pcl::VFHSignature308</a>&gt;</div>
<div class="line"><a name="l00030"></a><span class="lineno"><a class="line" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_c_v_f_h_recognizer.html">   30</a></span>&#160;      <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_c_v_f_h_recognizer.html">GlobalNNCVFHRecognizer</a></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;      {</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160; </div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160; </div>
<div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="structpcl_1_1rec__3d__framework_1_1_global_n_n_c_v_f_h_recognizer_1_1index__score.html">   35</a></span>&#160;        <span class="keyword">struct </span><a class="code" href="structpcl_1_1rec__3d__framework_1_1_global_n_n_c_v_f_h_recognizer_1_1index__score.html">index_score</a></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;        {</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;          <span class="keywordtype">int</span> idx_models_;</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;          <span class="keywordtype">int</span> idx_input_;</div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;          <span class="keywordtype">double</span> score_;</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;        };</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno"><a class="line" href="structpcl_1_1rec__3d__framework_1_1_global_n_n_c_v_f_h_recognizer_1_1sort_index_scores.html">   42</a></span>&#160;        <span class="keyword">struct </span><a class="code" href="structpcl_1_1rec__3d__framework_1_1_global_n_n_c_v_f_h_recognizer_1_1sort_index_scores.html">sortIndexScores</a></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;        {</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;          <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;          operator() (<span class="keyword">const</span> <a class="code" href="structpcl_1_1rec__3d__framework_1_1_global_n_n_c_v_f_h_recognizer_1_1index__score.html">index_score</a>&amp; d1, <span class="keyword">const</span> <a class="code" href="structpcl_1_1rec__3d__framework_1_1_global_n_n_c_v_f_h_recognizer_1_1index__score.html">index_score</a>&amp; d2)</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;          {</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;            <span class="keywordflow">return</span> d1.score_ &lt; d2.score_;</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;          }</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;        } sortIndexScoresOp;</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; </div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointInT&gt;::Ptr PointInTPtr;</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointInT&gt;::ConstPtr ConstPointInTPtr;</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160; </div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;        <span class="keyword">typedef</span> Distance&lt;float&gt; DistT;</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1rec__3d__framework_1_1_model.html">Model&lt;PointInT&gt;</a> <a class="code" href="classpcl_1_1rec__3d__framework_1_1_model.html">ModelT</a>;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
<div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_c_v_f_h_recognizer.html#a1c39c77c0efe0fb4a7aad2163a6436f9">   58</a></span>&#160;        std::string <a class="code" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_c_v_f_h_recognizer.html#a1c39c77c0efe0fb4a7aad2163a6436f9">training_dir_</a>;</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160; </div>
<div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_c_v_f_h_recognizer.html#a44090665a54a815539d3bf286cfe00be">   61</a></span>&#160;        PointInTPtr <a class="code" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_c_v_f_h_recognizer.html#a44090665a54a815539d3bf286cfe00be">input_</a>;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160; </div>
<div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_c_v_f_h_recognizer.html#a7e36f4e66c41b0327cd8bd63ce2de9dd">   64</a></span>&#160;        <span class="keyword">typename</span> boost::shared_ptr&lt;pcl::rec_3d_framework::Source&lt;PointInT&gt; &gt; <a class="code" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_c_v_f_h_recognizer.html#a7e36f4e66c41b0327cd8bd63ce2de9dd">source_</a>;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
<div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_c_v_f_h_recognizer.html#a8cfe49751fd78df3ea0591e380b8ef9d">   67</a></span>&#160;        <span class="keyword">typename</span> boost::shared_ptr&lt;OURCVFHEstimator&lt;PointInT, FeatureT&gt; &gt; <a class="code" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_c_v_f_h_recognizer.html#a8cfe49751fd78df3ea0591e380b8ef9d">micvfh_estimator_</a>;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
<div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_c_v_f_h_recognizer.html#a8eb34f1ab4617a891153c72e8cc0a3c8">   70</a></span>&#160;        <span class="keyword">typename</span> boost::shared_ptr&lt;HypothesisVerification&lt;PointInT, PointInT&gt; &gt; <a class="code" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_c_v_f_h_recognizer.html#a8eb34f1ab4617a891153c72e8cc0a3c8">hv_algorithm_</a>;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
<div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_c_v_f_h_recognizer.html#affffb23d7cc95b3a3ef63fed292bbb25">   73</a></span>&#160;        std::string <a class="code" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_c_v_f_h_recognizer.html#affffb23d7cc95b3a3ef63fed292bbb25">descr_name_</a>;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        <span class="keywordtype">int</span> ICP_iterations_;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        <span class="keywordtype">bool</span> noisify_;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        <span class="keywordtype">float</span> noise_;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
<div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_c_v_f_h_recognizer_1_1flann__model.html">   80</a></span>&#160;        <span class="keyword">class </span><a class="code" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_c_v_f_h_recognizer_1_1flann__model.html">flann_model</a></div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        {</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        <span class="keyword">public</span>:</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;          <a class="code" href="classpcl_1_1rec__3d__framework_1_1_model.html">ModelT</a> model;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;          <span class="keywordtype">int</span> view_id;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;          <span class="keywordtype">int</span> descriptor_id;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;          std::vector&lt;float&gt; descr;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;          <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;          operator&lt; (<span class="keyword">const</span> <a class="code" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_c_v_f_h_recognizer_1_1flann__model.html">flann_model</a> &amp;other)<span class="keyword"> const</span></div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;<span class="keyword">          </span>{</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;            <span class="keywordflow">if</span> ((this-&gt;model.id_.compare (other.model.id_) &lt; 0))</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;            {</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;              <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;            }</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;            <span class="keywordflow">else</span></div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;            {</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;              <span class="keywordflow">if</span> (this-&gt;model.id_.compare (other.model.id_) == 0)</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;              {</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;                <span class="comment">//check view id</span></div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;                <span class="keywordflow">if</span> ((this-&gt;view_id &lt; other.view_id))</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;                {</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;                  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;                }</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;                <span class="keywordflow">else</span></div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;                {</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;                  <span class="keywordflow">if</span> (this-&gt;view_id == other.view_id)</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;                  {</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;                    <span class="keywordflow">if</span> (this-&gt;descriptor_id &lt; other.descriptor_id)</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;                    {</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;                      <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;                    }</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;                  }</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;                }</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;              }</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;            }</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160; </div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;            <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;          }</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160; </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;          <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;          operator== (<span class="keyword">const</span> <a class="code" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_c_v_f_h_recognizer_1_1flann__model.html">flann_model</a> &amp;other)<span class="keyword"> const</span></div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;<span class="keyword">          </span>{</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;            <span class="keywordflow">return</span> (model.id_ == other.model.id_) &amp;&amp; (view_id == other.view_id) &amp;&amp; (descriptor_id == other.descriptor_id);</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;          }</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160; </div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        };</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160; </div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;        <a class="code" href="classflann_1_1_matrix.html">flann::Matrix&lt;float&gt;</a> flann_data_;</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;        <a class="code" href="classflann_1_1_index.html">flann::Index&lt;DistT&gt;</a> * flann_index_;</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        std::vector&lt;flann_model&gt; flann_models_;</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160; </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;        std::vector&lt;flann::Matrix&lt;float&gt; &gt; single_categories_data_;</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;        std::vector&lt;flann::Index&lt;DistT&gt; *&gt; single_categories_index_;</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;        std::vector&lt;boost::shared_ptr&lt;std::vector&lt;int&gt; &gt; &gt; single_categories_pointers_to_models_;</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        std::map&lt;std::string, int&gt; category_to_vectors_indices_;</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;        std::vector&lt;std::string&gt; categories_to_be_searched_;</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;        <span class="keywordtype">bool</span> use_single_categories_;</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;        <span class="keywordtype">bool</span> use_cache_;</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;        std::map&lt;std::pair&lt;std::string, int&gt;, Eigen::Matrix4f, std::less&lt;std::pair&lt;std::string, int&gt; &gt;, Eigen::aligned_allocator&lt;std::pair&lt;std::pair&lt;</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;            std::string, <span class="keywordtype">int</span>&gt;, Eigen::Matrix4f&gt; &gt; &gt; poses_cache_;</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;        std::map&lt;std::pair&lt;std::string, int&gt;, Eigen::Vector3f&gt; centroids_cache_;</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        std::vector&lt;int&gt; indices_;</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160; </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;        <span class="keywordtype">bool</span> compute_scale_;</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160; </div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        <span class="comment">//load features from disk and create flann structure</span></div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;        loadFeaturesAndCreateFLANN ();</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160; </div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;        convertToFLANN (<span class="keyword">const</span> std::vector&lt;flann_model&gt; &amp;models, <a class="code" href="classflann_1_1_matrix.html">flann::Matrix&lt;float&gt;</a> &amp;data)</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;        {</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;          data.rows = models.size ();</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;          data.cols = models[0].descr.size (); <span class="comment">// number of histogram bins</span></div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160; </div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;          <a class="code" href="classflann_1_1_matrix.html">flann::Matrix&lt;float&gt;</a> flann_data (<span class="keyword">new</span> <span class="keywordtype">float</span>[models.size () * models[0].descr.size ()], models.size (), models[0].descr.size ());</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160; </div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;          <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; data.rows; ++i)</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;            <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = 0; j &lt; data.cols; ++j)</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;            {</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;              flann_data.ptr ()[i * data.cols + j] = models[i].descr[j];</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;            }</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160; </div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;          data = flann_data;</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;        }</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160; </div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;        convertToFLANN (<span class="keyword">const</span> std::vector&lt;flann_model&gt; &amp;models, boost::shared_ptr&lt;std::vector&lt;int&gt; &gt; &amp; indices, <a class="code" href="classflann_1_1_matrix.html">flann::Matrix&lt;float&gt;</a> &amp;data)</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;        {</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;          data.rows = indices-&gt;size ();</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;          data.cols = models[0].descr.size (); <span class="comment">// number of histogram bins</span></div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160; </div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;          <a class="code" href="classflann_1_1_matrix.html">flann::Matrix&lt;float&gt;</a> flann_data(<span class="keyword">new</span> <span class="keywordtype">float</span>[indices-&gt;size () * models[0].descr.size ()],indices-&gt;size(),models[0].descr.size ());</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160; </div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;          <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; data.rows; ++i)</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;            <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = 0; j &lt; data.cols; ++j)</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;            {</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;              flann_data.ptr()[i * data.cols + j] = models[indices-&gt;at(i)].descr[j];</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;            }</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160; </div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;          data = flann_data;</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;        }</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160; </div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;        nearestKSearch (<a class="code" href="classflann_1_1_index.html">flann::Index&lt;DistT&gt;</a> * index, <span class="keyword">const</span> flann_model &amp;model, <span class="keywordtype">int</span> k, <a class="code" href="classflann_1_1_matrix.html">flann::Matrix&lt;int&gt;</a> &amp;indices, <a class="code" href="classflann_1_1_matrix.html">flann::Matrix&lt;float&gt;</a> &amp;distances);</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160; </div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;        getPose (ModelT &amp; model, <span class="keywordtype">int</span> view_id, Eigen::Matrix4f &amp; pose_matrix);</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160; </div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;        <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;        getRollPose (ModelT &amp; model, <span class="keywordtype">int</span> view_id, <span class="keywordtype">int</span> d_id, Eigen::Matrix4f &amp; pose_matrix);</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160; </div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;        getCentroid (ModelT &amp; model, <span class="keywordtype">int</span> view_id, <span class="keywordtype">int</span> d_id, Eigen::Vector3f &amp; centroid);</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160; </div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;        getView (ModelT &amp; model, <span class="keywordtype">int</span> view_id, PointInTPtr &amp; view);</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160; </div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;        <span class="keywordtype">int</span> NN_;</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160; </div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;        boost::shared_ptr&lt;std::vector&lt;ModelT&gt; &gt; models_;</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;        boost::shared_ptr&lt;std::vector&lt;Eigen::Matrix4f, Eigen::aligned_allocator&lt;Eigen::Matrix4f&gt; &gt; &gt; transforms_;</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160; </div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;        std::vector&lt;float&gt; descriptor_distances_;</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160; </div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160; </div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;        GlobalNNCVFHRecognizer ()</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;        {</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;          ICP_iterations_ = 0;</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;          noisify_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;          compute_scale_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;          use_single_categories_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;        }</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160; </div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;        ~GlobalNNCVFHRecognizer ()</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;        {</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;        }</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160; </div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;        getDescriptorDistances (std::vector&lt;float&gt; &amp; ds)</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;        {</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;          ds = descriptor_distances_;</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;        }</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160; </div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;        setComputeScale (<span class="keywordtype">bool</span> d)</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;        {</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;          compute_scale_ = d;</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;        }</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160; </div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;        setCategoriesToUseForRecognition (std::vector&lt;std::string&gt; &amp; cats_to_use)</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;        {</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;          categories_to_be_searched_.clear ();</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;          categories_to_be_searched_ = cats_to_use;</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;        }</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160; </div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;        <span class="keywordtype">void</span> setUseSingleCategories(<span class="keywordtype">bool</span> b) {</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;          use_single_categories_ = b;</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;        }</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160; </div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;        setNoise (<span class="keywordtype">float</span> n)</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;        {</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;          noisify_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;          noise_ = n;</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;        }</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160; </div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;        setNN (<span class="keywordtype">int</span> nn)</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;        {</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;          NN_ = nn;</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;        }</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160; </div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;        setICPIterations (<span class="keywordtype">int</span> it)</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;        {</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;          ICP_iterations_ = it;</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;        }</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160; </div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;        initialize (<span class="keywordtype">bool</span> force_retrain = <span class="keyword">false</span>);</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160; </div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00276"></a><span class="lineno"><a class="line" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_c_v_f_h_recognizer.html#ae8947c5b116adb3bd4f5baabdd9a501a">  276</a></span>&#160;        <a class="code" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_c_v_f_h_recognizer.html#ae8947c5b116adb3bd4f5baabdd9a501a">setDataSource</a> (<span class="keyword">typename</span> boost::shared_ptr&lt;<a class="code" href="classpcl_1_1rec__3d__framework_1_1_source.html">Source&lt;PointInT&gt;</a> &gt; &amp; source)</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;        {</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;          source_ = source;</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;        }</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160; </div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00286"></a><span class="lineno"><a class="line" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_c_v_f_h_recognizer.html#a525d05d96b32a9ffea2366d53259a099">  286</a></span>&#160;        <a class="code" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_c_v_f_h_recognizer.html#a525d05d96b32a9ffea2366d53259a099">setFeatureEstimator</a> (<span class="keyword">typename</span> boost::shared_ptr&lt;<a class="code" href="classpcl_1_1rec__3d__framework_1_1_o_u_r_c_v_f_h_estimator.html">OURCVFHEstimator&lt;PointInT, FeatureT&gt;</a> &gt; &amp; feat)</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;        {</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;          micvfh_estimator_ = feat;</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;        }</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160; </div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00295"></a><span class="lineno"><a class="line" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_c_v_f_h_recognizer.html#ac7dd9a5e980e7aa63ab4d604047c34cd">  295</a></span>&#160;        <a class="code" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_c_v_f_h_recognizer.html#ac7dd9a5e980e7aa63ab4d604047c34cd">setHVAlgorithm</a> (<span class="keyword">typename</span> boost::shared_ptr&lt;<a class="code" href="classpcl_1_1_hypothesis_verification.html">HypothesisVerification&lt;PointInT, PointInT&gt;</a> &gt; &amp; alg)</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;        {</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;          hv_algorithm_ = alg;</div>
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<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160; </div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;        setIndices (std::vector&lt;int&gt; &amp; indices)</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;        {</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;          indices_ = indices;</div>
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<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160; </div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00310"></a><span class="lineno"><a class="line" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_c_v_f_h_recognizer.html#aaee9336762ba592fb54ed8c2560f4bd7">  310</a></span>&#160;        <a class="code" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_c_v_f_h_recognizer.html#aaee9336762ba592fb54ed8c2560f4bd7">setInputCloud</a> (<span class="keyword">const</span> PointInTPtr &amp; cloud)</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;        {</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;          input_ = cloud;</div>
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<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160; </div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;        setDescriptorName (std::string &amp; name)</div>
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<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160; </div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;        setTrainingDir (std::string &amp; dir)</div>
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<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160; </div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;        recognize ();</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160; </div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;        boost::shared_ptr&lt;std::vector&lt;ModelT&gt; &gt;</div>
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<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160; </div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;        boost::shared_ptr&lt;std::vector&lt;Eigen::Matrix4f, Eigen::aligned_allocator&lt;Eigen::Matrix4f&gt; &gt; &gt;</div>
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<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160; </div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;        setUseCache (<span class="keywordtype">bool</span> u)</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;        {</div>
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<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160; </div>
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<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* REC_FRAMEWORK_GLOBAL_PIPELINE_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclassflann_1_1_index_html"><div class="ttname"><a href="classflann_1_1_index.html">flann::Index&lt; DistT &gt;</a></div></div>
<div class="ttc" id="aclassflann_1_1_matrix_html"><div class="ttname"><a href="classflann_1_1_matrix.html">flann::Matrix&lt; float &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_hypothesis_verification_html"><div class="ttname"><a href="classpcl_1_1_hypothesis_verification.html">pcl::HypothesisVerification</a></div><div class="ttdoc">Abstract class for hypotheses verification methods</div><div class="ttdef"><b>Definition:</b> hypotheses_verification.h:57</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_global_n_n_c_v_f_h_recognizer_1_1flann__model_html"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_global_n_n_c_v_f_h_recognizer_1_1flann__model.html">pcl::rec_3d_framework::GlobalNNCVFHRecognizer::flann_model</a></div><div class="ttdef"><b>Definition:</b> global_nn_recognizer_cvfh.h:81</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_global_n_n_c_v_f_h_recognizer_html"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_global_n_n_c_v_f_h_recognizer.html">pcl::rec_3d_framework::GlobalNNCVFHRecognizer</a></div><div class="ttdoc">Nearest neighbor search based classification of PCL point type features. Available features: CVFH</div><div class="ttdef"><b>Definition:</b> global_nn_recognizer_cvfh.h:31</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_global_n_n_c_v_f_h_recognizer_html_a1c39c77c0efe0fb4a7aad2163a6436f9"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_global_n_n_c_v_f_h_recognizer.html#a1c39c77c0efe0fb4a7aad2163a6436f9">pcl::rec_3d_framework::GlobalNNCVFHRecognizer::training_dir_</a></div><div class="ttdeci">std::string training_dir_</div><div class="ttdoc">Directory where the trained structure will be saved</div><div class="ttdef"><b>Definition:</b> global_nn_recognizer_cvfh.h:58</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_global_n_n_c_v_f_h_recognizer_html_a44090665a54a815539d3bf286cfe00be"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_global_n_n_c_v_f_h_recognizer.html#a44090665a54a815539d3bf286cfe00be">pcl::rec_3d_framework::GlobalNNCVFHRecognizer::input_</a></div><div class="ttdeci">PointInTPtr input_</div><div class="ttdoc">Point cloud to be classified</div><div class="ttdef"><b>Definition:</b> global_nn_recognizer_cvfh.h:61</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_global_n_n_c_v_f_h_recognizer_html_a525d05d96b32a9ffea2366d53259a099"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_global_n_n_c_v_f_h_recognizer.html#a525d05d96b32a9ffea2366d53259a099">pcl::rec_3d_framework::GlobalNNCVFHRecognizer::setFeatureEstimator</a></div><div class="ttdeci">void setFeatureEstimator(typename boost::shared_ptr&lt; OURCVFHEstimator&lt; PointInT, FeatureT &gt; &gt; &amp;feat)</div><div class="ttdoc">Sets the model data source_</div><div class="ttdef"><b>Definition:</b> global_nn_recognizer_cvfh.h:286</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_global_n_n_c_v_f_h_recognizer_html_a7e36f4e66c41b0327cd8bd63ce2de9dd"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_global_n_n_c_v_f_h_recognizer.html#a7e36f4e66c41b0327cd8bd63ce2de9dd">pcl::rec_3d_framework::GlobalNNCVFHRecognizer::source_</a></div><div class="ttdeci">boost::shared_ptr&lt; pcl::rec_3d_framework::Source&lt; PointInT &gt; &gt; source_</div><div class="ttdoc">Model data source</div><div class="ttdef"><b>Definition:</b> global_nn_recognizer_cvfh.h:64</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_global_n_n_c_v_f_h_recognizer_html_a8cfe49751fd78df3ea0591e380b8ef9d"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_global_n_n_c_v_f_h_recognizer.html#a8cfe49751fd78df3ea0591e380b8ef9d">pcl::rec_3d_framework::GlobalNNCVFHRecognizer::micvfh_estimator_</a></div><div class="ttdeci">boost::shared_ptr&lt; OURCVFHEstimator&lt; PointInT, FeatureT &gt; &gt; micvfh_estimator_</div><div class="ttdoc">Computes a feature</div><div class="ttdef"><b>Definition:</b> global_nn_recognizer_cvfh.h:67</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_global_n_n_c_v_f_h_recognizer_html_a8eb34f1ab4617a891153c72e8cc0a3c8"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_global_n_n_c_v_f_h_recognizer.html#a8eb34f1ab4617a891153c72e8cc0a3c8">pcl::rec_3d_framework::GlobalNNCVFHRecognizer::hv_algorithm_</a></div><div class="ttdeci">boost::shared_ptr&lt; HypothesisVerification&lt; PointInT, PointInT &gt; &gt; hv_algorithm_</div><div class="ttdoc">Hypotheses verification algorithm</div><div class="ttdef"><b>Definition:</b> global_nn_recognizer_cvfh.h:70</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_global_n_n_c_v_f_h_recognizer_html_aaee9336762ba592fb54ed8c2560f4bd7"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_global_n_n_c_v_f_h_recognizer.html#aaee9336762ba592fb54ed8c2560f4bd7">pcl::rec_3d_framework::GlobalNNCVFHRecognizer::setInputCloud</a></div><div class="ttdeci">void setInputCloud(const PointInTPtr &amp;cloud)</div><div class="ttdoc">Sets the input cloud to be classified</div><div class="ttdef"><b>Definition:</b> global_nn_recognizer_cvfh.h:310</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_global_n_n_c_v_f_h_recognizer_html_ac7dd9a5e980e7aa63ab4d604047c34cd"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_global_n_n_c_v_f_h_recognizer.html#ac7dd9a5e980e7aa63ab4d604047c34cd">pcl::rec_3d_framework::GlobalNNCVFHRecognizer::setHVAlgorithm</a></div><div class="ttdeci">void setHVAlgorithm(typename boost::shared_ptr&lt; HypothesisVerification&lt; PointInT, PointInT &gt; &gt; &amp;alg)</div><div class="ttdoc">Sets the HV algorithm</div><div class="ttdef"><b>Definition:</b> global_nn_recognizer_cvfh.h:295</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_global_n_n_c_v_f_h_recognizer_html_ae8947c5b116adb3bd4f5baabdd9a501a"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_global_n_n_c_v_f_h_recognizer.html#ae8947c5b116adb3bd4f5baabdd9a501a">pcl::rec_3d_framework::GlobalNNCVFHRecognizer::setDataSource</a></div><div class="ttdeci">void setDataSource(typename boost::shared_ptr&lt; Source&lt; PointInT &gt; &gt; &amp;source)</div><div class="ttdoc">Sets the model data source_</div><div class="ttdef"><b>Definition:</b> global_nn_recognizer_cvfh.h:276</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_global_n_n_c_v_f_h_recognizer_html_affffb23d7cc95b3a3ef63fed292bbb25"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_global_n_n_c_v_f_h_recognizer.html#affffb23d7cc95b3a3ef63fed292bbb25">pcl::rec_3d_framework::GlobalNNCVFHRecognizer::descr_name_</a></div><div class="ttdeci">std::string descr_name_</div><div class="ttdoc">Descriptor name</div><div class="ttdef"><b>Definition:</b> global_nn_recognizer_cvfh.h:73</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_model_html"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_model.html">pcl::rec_3d_framework::Model&lt; PointInT &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_o_u_r_c_v_f_h_estimator_html"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_o_u_r_c_v_f_h_estimator.html">pcl::rec_3d_framework::OURCVFHEstimator</a></div><div class="ttdef"><b>Definition:</b> ourcvfh_estimator.h:22</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_source_html"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_source.html">pcl::rec_3d_framework::Source</a></div><div class="ttdoc">Abstract data source class, manages filesystem, incremental training, etc.</div><div class="ttdef"><b>Definition:</b> source.h:83</div></div>
<div class="ttc" id="acommon_2include_2pcl_2common_2common_8h_html"><div class="ttname"><a href="common_2include_2pcl_2common_2common_8h.html">common.h</a></div></div>
<div class="ttc" id="astructpcl_1_1_v_f_h_signature308_html"><div class="ttname"><a href="structpcl_1_1_v_f_h_signature308.html">pcl::VFHSignature308</a></div><div class="ttdoc">A point structure representing the Viewpoint Feature Histogram (VFH).</div><div class="ttdef"><b>Definition:</b> point_types.hpp:1366</div></div>
<div class="ttc" id="astructpcl_1_1rec__3d__framework_1_1_global_n_n_c_v_f_h_recognizer_1_1index__score_html"><div class="ttname"><a href="structpcl_1_1rec__3d__framework_1_1_global_n_n_c_v_f_h_recognizer_1_1index__score.html">pcl::rec_3d_framework::GlobalNNCVFHRecognizer::index_score</a></div><div class="ttdef"><b>Definition:</b> global_nn_recognizer_cvfh.h:36</div></div>
<div class="ttc" id="astructpcl_1_1rec__3d__framework_1_1_global_n_n_c_v_f_h_recognizer_1_1sort_index_scores_html"><div class="ttname"><a href="structpcl_1_1rec__3d__framework_1_1_global_n_n_c_v_f_h_recognizer_1_1sort_index_scores.html">pcl::rec_3d_framework::GlobalNNCVFHRecognizer::sortIndexScores</a></div><div class="ttdef"><b>Definition:</b> global_nn_recognizer_cvfh.h:43</div></div>
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